CN108527330A - Interactive mode controls integrated device, modularized robot and storage medium - Google Patents
Interactive mode controls integrated device, modularized robot and storage medium Download PDFInfo
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- CN108527330A CN108527330A CN201810423048.1A CN201810423048A CN108527330A CN 108527330 A CN108527330 A CN 108527330A CN 201810423048 A CN201810423048 A CN 201810423048A CN 108527330 A CN108527330 A CN 108527330A
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- robot
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- interactive mode
- integrated device
- control panel
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the technical fields of robot, disclose interactive mode and control integrated device, modularized robot and storage medium, wherein it includes control panel and the driving plate for assisting calculating current ring, speed ring that interactive mode, which controls integrated device,；The control panel includes showing structure, input structure and the processing chip for running activation point ring, axis control, user's interaction；The driving plate is electrically connected to each other with the control panel.Modularized robot in the present invention provides multiple joint arms and multiple motors are for selection, user can select suitable quantity freely to design combination and complete structure division, then access interaction formula controls integrated device alignment and is controlled, and completes the design work of entire robot.This modularization plays with building blocks the design combination of formula, has lower learning cost so that robot can enter in common life from professional application scene, open up the blue sea market field of robot.
Description
Technical field
The present invention relates to the technical fields of robot, more particularly to can control the technology neck of integration and modularized robot
Domain.
Background technology
Robot includes mainly with lower part：Structure division and control section.Wherein, structure division includes motor and correlation
Large arm, forearm, pedestal, execute structure etc., motor is typically mounted at joint, driven after rotation corresponding structure swing or
Rotation, such as small arm swing, big arm swing, fingers opening-closing etc.., control section includes controller, driver and teaching machine, control
Device processed is responsible for trajectory planning and the control section on upper layer, and output control signal after driver connects suspension control signal, is converted to corresponding
Pulse signal, input motor in, motor finally makes robot run according to output of pulse signal.In the process of running, electric
Machine feed back motion information to driver, driver knows the degree of movement according to feedback information.Teaching machine is then equivalent to input and sets
Standby, user, to controller input information, is carried out the operations such as action programming, data setting, generally had on teaching machine by teaching machine
There are display screen and button, user can be helped to input program, obtain operation feedback data.
Exploitation for robot, in general structure division are relatively easy to, and are chosen motor and are designed dependency structure,
And control section then has comparable technical threshold, user generally requires purchasing control device, driver and teaching machine, and needs
Debugging is combined with structure division, user needs the knowledge such as known relevant driving, control, has higher learning cost so that
The exploitation of robot has higher study threshold, it is difficult to from being entered on laboratory, production line in common life.Therefore, how
Robot development's threshold is reduced, opening up the blue sea market field of robot becomes this field hot topic R＆D direction.
Invention content
The purpose of the present invention is to provide interactive modes to control integrated device, it is intended to solve robot in the prior art needs
Teaching machine, controller and driver so that the problems such as design learning threshold is high, material procurement is of high cost.
The invention is realized in this way providing interactive mode controls integrated device, including control panel and for assisting calculating electricity
Flow the driving plate of ring, speed ring；The control panel includes showing structure, input structure and for running activation point ring, axis
The processing chip of control, user's interaction；The driving plate is electrically connected to each other with the control panel.
Interactive mode in the present invention controls integrated device, and teaching machine in the prior art, controller and driver is whole
It is integrated, simple direct control program is provided, user can directly select the interactive control for controling integrated device and realizing robot
Part processed reduces the study threshold of Robot Design, and is not necessarily to while purchasing teaching machine, controller and driver, also drops
Low cost so that robot.
The present invention also provides modularized robots, including, the structure division includes multiple joint arms and multiple motors,
Each motor is connected to the interactive mode and controls integrated device.
Modularized robot in the present invention provides multiple joint arms and multiple motors are for selection, and user can select
Suitable quantity freely designs combination and completes structure division, and then access interaction formula controls integrated device alignment and controlled, complete
At the design work of entire robot.This modularization plays with building blocks the design combination of formula, has lower learning cost, makes
Obtaining robot can enter in common life from professional application scene, open up the blue sea market field of robot.
Description of the drawings
Fig. 1 is the structural schematic diagram that interactive mode provided in an embodiment of the present invention controls integrated device；
Fig. 2 is modularized robot structural schematic diagram provided in an embodiment of the present invention；
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In the description of the present invention, it is to be understood that, term " length ", " width ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated dress
It sets or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as the limit to the present invention
System.
In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects
It connects, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary in two elements
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
The realization of the present embodiment is described in detail below in conjunction with specific attached drawing.
As depicted in figs. 1 and 2, interactive mode is provided in the present embodiment and controls integrated device 1, including display structure 212, input
Structure 211, control panel 21, driving plate 22 and control panel 21.
Wherein, control version 21 is equipped with processing chip 213, for running activation point ring, axis control, user's interaction etc..It is aobvious
Show that structure 212 shows that user interface, input structure 211 are used for input information, the two is implemented in combination with user's interaction, namely completes
The function of " input-display " shows structure 212 and the communication of 211 control panel 21 of input structure, the information of input is transmitted to processing
Chip 213 after completing user's intercorrelation operation, on feedback information to display structure 212, is shown to user's viewing.In other words,
Display structure 212, input structure 211 are capable of providing the repertoire of teaching machine in conjunction with control panel 21.
Driving plate 22 is electrically connected to control panel 21, is mutually communicated with processing chip 213, for the auxiliary of electric current loop and speed ring
It calculates, and direct-driving motor 221, receives the feedback of motor 221.
Integrated device 1 is controled based on interactive mode, is capable of the customization associated control procedures of more depth, it will control before manufacture
Plate 21 and the debugging completely of driving plate 22 finish, and the information of user's interaction level are only met at user's processing, user ties by showing
Structure 212 and input structure 211 are operated.
User using interactive mode when controling integrated device 1, since teaching machine, controller and driver being fully integrated,
There is no need to purchase above-mentioned several components respectively, without considering the problems of mutual versatility, matching, debugging.It will control
Plate 21 is directly connect with each motor 221 on the structure division of robot, by input structure 211 and display structure 212 into
Row programming, you can drive each motor 221 of robot to rotate, namely driving robot is specifically acted.
Since user designs control section without expending mental and physical efforts, only need to design structure according to the wish of oneself
Then part controls integrated device 1 by interactive mode and directly controls it, interaction controls one in people and interactive mode
The level of body device 1, the debugging after installation is complete is only limitted to the debugging of man-machine communication, without regard to the tune inside control system
Examination, therefore greatly reduce the difficulty of robot development so that more people can participate in or self-developing design robot, change speech
It also extends the blue sea market field of robot other than producing with the field of the professions such as scientific research.
Above-mentioned display structure 212 can be common liquid crystals screen, dot matrix display screen, external host computer, CRT monitor etc.
Various structures.Input structure 211 can be the structures such as ergonomics handle, keyboard, button, rocking bar.Specifically, the present embodiment
In interactive mode to control integrated device include touch screen, touch screen has the function of display and input concurrently, namely constitutes display knot
Structure 212 and input structure 211.
Driving plate 22 can be integrated in control panel 21 in the same cabinet namely interactive mode controls 1 entirety of integrated device
It is integrally formed machine, one or more interfaces are set, are connected on each motor 221 by wire rod.
Control panel 21 is equipped with the expansion interface for providing high speed communication.By expansion interface, control panel 21 can also
It is additionally communicated with expansion structure 23, expansion structure 23 for example executes structure：Drill bit, mechanical grip, suction nozzle；Or sensing
Device：Position sensor, sensor etc.；Or other drivers, when being communicated with common driver, control panel 21 can be made
It is used for common controller, directly controls the robot of integrated drive.
Preferably, the control panel 21 in this implementation is FPGA（Field programmable gate array）, pass through expansion interface and driving
Plate 22 is communicated.FPGA is good at parallel computation, can simultaneously parallel computation be multiple motors 221 speed ring and electric current are provided
The control of ring, due to activation point ring, axis control, user interaction etc. most calculation processes in control panel 21 it is complete
At, therefore correlation computations can be driven to be placed in single FPGA the multiaxis of suitable parallel computation and completed, it is every to substitute the prior art
A motor 221 is required for one driver of adaptation.
The specific communication modes used in the present embodiment is EtherCAT（Ethernet auto-control technology）, by same
The mode of step Ethernet is communicated, and communication cycle is usually ms ranks.
As depicted in figs. 1 and 2, modularized robot 2, including structure division and interactive drive are additionally provided in the present embodiment
Integrated device 1 is controlled, wherein structure division includes multiple joint arms 11 and is installed on the motor 221 of 11 end of joint arm, interactive
It controls integrated device 1 and is connected to motor 221.
When user chooses or designs modularized robot 2, the joint arm 11 and motor of different structure are selected as needed
221, it then mixes interactive mode and controls integrated device 1, modularized robot 2 is constituted after combination, as the higher portion of development difficulty
Point, entire control section is fully integrated into interactive mode and controls in integrated device 1, and user is not necessarily to designed, designed, debugging control part,
It only needs to be assembled structure division as playing with building blocks to complete assembly work, by controling integrated device 1 with interactive mode
Interaction, you can realize control for modularized robot 2.
The structure division of modularized robot 2 includes pedestal 12, and power supply module and driving plate 22 are equipped in pedestal 12.
Design structure part anyway is required for pedestal 12, therefore power supply module and driving plate 22 is installed on base in the present embodiment
Inside seat 12, user selects other joint arms 11 and motor 221 to be installed on pedestal 12, and by motor 221 and power supply module,
Driving plate 22 is electrically connected.
Preferably, driving plate 22 is equipped with expansion interface, can be communicated with the driving plate 22 in pedestal 12.
Driving plate 22 in this implementation is multiaxis driving plate 22.It, can also be with since driving plate 22 is equipped with expansion interface
Conventional uniaxial driving plate 22 connects, and is in the prior art that the robot of integrated driving plate 22 has been controlled, or
Two kinds of person controls two kinds simultaneously, provides the extending space of bigger.
Due to the provision of expansion interface, it is preferred, therefore, that structure division further includes that can be communicated by expansion interface
Expansion structure 23, expansion structure 23 may include multiple sensors, executes structure, camera, microphone, mobile chassis etc..
Wherein sensor can be force snesor, optical sensor etc., and in certain specific environment, infeed sensor data, triggering are corresponding next time
Action, such as detect that resistance judges and environment interference or touches article, then 21 control machine of control panel carries out corresponding
Action, such as shut down or capture etc..Executing structure can be：Clamping jaw, suction nozzle, milling head, drill bit, light engraving laser head, 3D are beaten
Print, pen clipping device etc., control panel 21 can operate execute structure realize its corresponding action, such as take, milling, brill, light engraving, 3D
The functions such as printing, writing.Camera 231 can acquire image information, and the image information of acquisition and control panel 21 are communicated, and carry out
The operations such as identification, tracking, record.Microphone is similar with camera function, can assist realizing the functions such as speech recognition, recording.
Mobile chassis can realize the movement of entire robot, and four Mecanum wheels specifically may be used and install to pedestal 12, so
The rotation direction and speed of each Mecanum wheel are controlled by control panel 21 afterwards, changes the moving direction and speed of pedestal 12.
For example, selected from above-mentioned structure division the joint arm 11, three of mobile chassis 232, two joint motor 221,
One clamping jaw（It is not shown）With a camera 231, modularized robot 2 as shown in Figure 2 is formed, one is controled by interactive mode
Body device 1 controls the modularized robot 2 being combined into, it may include following action：The movement of control module formula robot 2
Direction and speed；Control module formula robot 2 is shot in specific place；The joint arm 11 of control module formula robot 2
It swings specific angle or end is moved to specific position；Control clamping jaw grips or puts down article in specific position.
User is during combining above-mentioned modularized robot 2, without considering relevant control section, and only needs to consider structure
Combination controls the modularized robot 2 that integrated device 1 can easily complete combination by interactive mode and controls,
Achieve desired function.As can be seen that can easily be combined into the module in this implementation without higher learning cost
Formula robot 2, and realize control, there is lower development difficulty, ordinary people can also carry out relevant design work, enjoy
The automation facility that the enjoyment of design robot and robot are brought personally, extends to the market of robot from the field of profession
The blue sea market field of bigger.
Preferably, structure division is equipped with recognition component so that control panel 21 is capable of quick identification module formula robot 2
Specific assembled scheme.Recognition component can be the readable access to memory etc. of built-in coding.
Control program is additionally provided in the present embodiment, and for matching the modularized robot 2 for completing assembling, it is controlled
System.Controlling program includes：Alternation of bed：It is interacted for user；Control module, the motor 221 for directly controlling each robot；
Action module：It is built-in to be instructed with each various motion for executing structure matching.After modularized robot 2 is completed, from control
Select the block combiner met in processing procedure sequence, such as the different robot of the different robot of amount of articulation, actuating station, function
（Move object, processing）Different robots selects suitable block combiner, you can formation can match the modularized robot 2
Program is controlled, user passes through operating interactive module, you can the modularized robot 2 of designed, designed is controlled.Due to control
Processing procedure sequence also uses the thought of modular, can reduce user in software, programming side with 2 fast adaptation of modularized robot
The debugging difficulty in face further decreases study threshold.
Computer readable storage medium is additionally provided in the present embodiment, storage inside has computer program, computer journey
Above-mentioned control program is realized when sequence is executed by processor.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
All any modification, equivalent and improvement made by within principle etc., should all be included in the protection scope of the present invention.
Claims (10)
1. interactive mode controls integrated device, which is characterized in that including display structure, input structure, control panel and driving plate；
The display structure and the input structure be used to user interaction and with the control board communications, in the control panel
Equipped with operation activation point ring, axis control and the processing chip for handling customer interaction information；
The driving plate is communicated with the processing chip, carries out auxiliary calculating current ring, speed ring.
2. interactive mode as described in claim 1 controls integrated device, which is characterized in that the control panel is equipped with multiple be used for
The expansion interface of high-speed communication.
3. interactive mode as described in claim 1 controls integrated device, which is characterized in that further include touch screen, the touch screen
The display structure and the input structure are constituted, the touch screen is electrically connected to the control panel.
4. modularized robot, which is characterized in that control integrated dress including structure division and interactive mode described in claim 1
It sets, the structure division includes multiple joint arms and multiple motors, and each motor is connected to the interactive mode and controls one
Device.
5. modularized robot as claimed in claim 4, which is characterized in that the structure division further includes pedestal, the base
Power supply module and the driving plate are installed in seat.
6. modularized robot as claimed in claim 4, which is characterized in that the structure division further includes can be with the drive
The sensor of movable plate communication executes structure, camera, microphone, mobile chassis.
7. modularized robot as claimed in claim 4, which is characterized in that the structure division, which is equipped with, is convenient for the driving plate
The recognition component of identification.
8. program is controlled, for controlling claim 4 to 7 any one of them modularized robot, which is characterized in that including handing over
Mutual interlayer and control layer, wherein control layer includes the control module for controlling the motor.
9. control program as claimed in claim 8, which is characterized in that the control layer further includes the action of corresponding various motion
Module.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, feature to exist
In realization such as claim 7 to 9 any one of them controls program when the computer program is executed by processor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810423048.1A CN108527330A (en) | 2018-05-05 | 2018-05-05 | Interactive mode controls integrated device, modularized robot and storage medium |
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| CN201810423048.1A CN108527330A (en) | 2018-05-05 | 2018-05-05 | Interactive mode controls integrated device, modularized robot and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109656139A (en) * | 2018-12-26 | 2019-04-19 | 深圳市越疆科技有限公司 | Robot controls the adaptive modeling method of integrated system |
| CN113146601A (en) * | 2021-03-05 | 2021-07-23 | 南京信息工程大学 | Modular robot capable of climbing pole |
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